From bfade41883f2a6f2eafd4a9ae5990f5ae27c4203 Mon Sep 17 00:00:00 2001
From: h-ohta <hiroki.ota@tier4.jp>
Date: Thu, 4 Jul 2024 14:03:03 +0900
Subject: [PATCH] use upper and lower

---
 .../config/sensor_kit_calibration.yaml        |  16 +--
 aip_x2_description/urdf/sensor_kit.xacro      | 112 +++++++++---------
 2 files changed, 64 insertions(+), 64 deletions(-)

diff --git a/aip_x2_description/config/sensor_kit_calibration.yaml b/aip_x2_description/config/sensor_kit_calibration.yaml
index 6c47c46a..4a37420d 100644
--- a/aip_x2_description/config/sensor_kit_calibration.yaml
+++ b/aip_x2_description/config/sensor_kit_calibration.yaml
@@ -1,13 +1,13 @@
 sensor_kit_base_link:
   # left upper
-  left/lidar_base_link:
+  left_upper/lidar_base_link:
     x: 0.0
     y: 0.0
     z: 0.0
     roll: 0.0
     pitch: 0.0
     yaw: 3.141592 # 180 [deg] to turn the connector toward the vehicle
-  left_bottom/lidar_base_link:
+  left_lower/lidar_base_link:
     x: 0.0
     y: -0.025
     z: -0.115
@@ -37,14 +37,14 @@ sensor_kit_base_link:
     yaw: 1.570796 # 90 [deg]
 
   # right upper
-  right/lidar_base_link:
+  right_upper/lidar_base_link:
     x: 0.0
     y: -2.15178
     z: 0.0
     roll: 0.0
     pitch: 0.0
     yaw: 0.0 # to turn the connector toward the vehicle
-  right_bottom/lidar_base_link:
+  right_lower/lidar_base_link:
     x: 0.0
     y: -2.12678
     z: -0.115
@@ -141,14 +141,14 @@ sensor_kit_base_link:
     yaw: 0.0
 
   # front lower
-  front/lidar_base_link:
+  front_upper/lidar_base_link:
     x: 0.94058
     y: -1.07589
     z: -1.91826
     roll: 0.0
     pitch: 0.0
     yaw: 1.570796 # 90 [deg] to turn the connector toward the vehicle
-  front_bottom/lidar_base_link:
+  front_lower/lidar_base_link:
     x: 0.96758
     y: -1.07589
     z: -2.15234
@@ -157,14 +157,14 @@ sensor_kit_base_link:
     yaw: 1.570796 # 90 [deg] to turn the connector toward the vehicle
 
   # rear lower
-  rear/lidar_base_link:
+  rear_upper/lidar_base_link:
     x: -6.08042
     y: -1.07589
     z: -1.91826
     roll: 0.0
     pitch: 0.0
     yaw: -1.570796 # 90 [deg] to turn the connector toward the vehicle
-  rear_bottom/lidar_base_link:
+  rear_lower/lidar_base_link:
     x: -6.10742
     y: -1.07589
     z: -2.15234
diff --git a/aip_x2_description/urdf/sensor_kit.xacro b/aip_x2_description/urdf/sensor_kit.xacro
index e9aff3db..2fd3ede3 100644
--- a/aip_x2_description/urdf/sensor_kit.xacro
+++ b/aip_x2_description/urdf/sensor_kit.xacro
@@ -24,25 +24,25 @@
 
     <!-- left upper-->
     <xacro:PandarQT
-      name="left/lidar"
+      name="left_upper/lidar"
       parent="sensor_kit_base_link"
-      x="${calibration['sensor_kit_base_link']['left/lidar_base_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['left/lidar_base_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['left/lidar_base_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['left/lidar_base_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['left/lidar_base_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['left/lidar_base_link']['yaw']}"
+      x="${calibration['sensor_kit_base_link']['left_upper/lidar_base_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['left_upper/lidar_base_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['left_upper/lidar_base_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['left_upper/lidar_base_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['left_upper/lidar_base_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['left_upper/lidar_base_link']['yaw']}"
     />
 
     <xacro:PandarQT
-      name="left_bottom/lidar"
+      name="left_lower/lidar"
       parent="sensor_kit_base_link"
-      x="${calibration['sensor_kit_base_link']['left_bottom/lidar_base_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['left_bottom/lidar_base_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['left_bottom/lidar_base_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['left_bottom/lidar_base_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['left_bottom/lidar_base_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['left_bottom/lidar_base_link']['yaw']}"
+      x="${calibration['sensor_kit_base_link']['left_lower/lidar_base_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['left_lower/lidar_base_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['left_lower/lidar_base_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['left_lower/lidar_base_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['left_lower/lidar_base_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['left_lower/lidar_base_link']['yaw']}"
     />
 
     <xacro:monocular_camera_macro
@@ -95,25 +95,25 @@
 
     <!-- right upper-->
     <xacro:PandarQT
-      name="right/lidar"
+      name="right_upper/lidar"
       parent="sensor_kit_base_link"
-      x="${calibration['sensor_kit_base_link']['right/lidar_base_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['right/lidar_base_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['right/lidar_base_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['right/lidar_base_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['right/lidar_base_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['right/lidar_base_link']['yaw']}"
+      x="${calibration['sensor_kit_base_link']['right_upper/lidar_base_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['right_upper/lidar_base_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['right_upper/lidar_base_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['right_upper/lidar_base_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['right_upper/lidar_base_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['right_upper/lidar_base_link']['yaw']}"
     />
 
     <xacro:PandarQT
-      name="right_bottom/lidar"
+      name="right_lower/lidar"
       parent="sensor_kit_base_link"
-      x="${calibration['sensor_kit_base_link']['right_bottom/lidar_base_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['right_bottom/lidar_base_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['right_bottom/lidar_base_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['right_bottom/lidar_base_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['right_bottom/lidar_base_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['right_bottom/lidar_base_link']['yaw']}"
+      x="${calibration['sensor_kit_base_link']['right_lower/lidar_base_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['right_lower/lidar_base_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['right_lower/lidar_base_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['right_lower/lidar_base_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['right_lower/lidar_base_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['right_lower/lidar_base_link']['yaw']}"
     />
 
     <xacro:monocular_camera_macro
@@ -296,48 +296,48 @@
 
     <!-- front lower -->
     <xacro:PandarQT
-      name="front/lidar"
+      name="front_upper/lidar"
       parent="sensor_kit_base_link"
-      x="${calibration['sensor_kit_base_link']['front/lidar_base_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['front/lidar_base_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['front/lidar_base_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['front/lidar_base_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['front/lidar_base_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['front/lidar_base_link']['yaw']}"
+      x="${calibration['sensor_kit_base_link']['front_upper/lidar_base_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['front_upper/lidar_base_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['front_upper/lidar_base_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['front_upper/lidar_base_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['front_upper/lidar_base_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['front_upper/lidar_base_link']['yaw']}"
     />
 
     <xacro:PandarQT
-      name="front_bottom/lidar"
+      name="front_lower/lidar"
       parent="sensor_kit_base_link"
-      x="${calibration['sensor_kit_base_link']['front_bottom/lidar_base_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['front_bottom/lidar_base_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['front_bottom/lidar_base_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['front_bottom/lidar_base_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['front_bottom/lidar_base_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['front_bottom/lidar_base_link']['yaw']}"
+      x="${calibration['sensor_kit_base_link']['front_lower/lidar_base_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['front_lower/lidar_base_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['front_lower/lidar_base_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['front_lower/lidar_base_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['front_lower/lidar_base_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['front_lower/lidar_base_link']['yaw']}"
     />
 
     <!-- rear lower -->
     <xacro:PandarQT
-      name="rear/lidar"
+      name="rear_upper/lidar"
       parent="sensor_kit_base_link"
-      x="${calibration['sensor_kit_base_link']['rear/lidar_base_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['rear/lidar_base_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['rear/lidar_base_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['rear/lidar_base_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['rear/lidar_base_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['rear/lidar_base_link']['yaw']}"
+      x="${calibration['sensor_kit_base_link']['rear_upper/lidar_base_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['rear_upper/lidar_base_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['rear_upper/lidar_base_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['rear_upper/lidar_base_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['rear_upper/lidar_base_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['rear_upper/lidar_base_link']['yaw']}"
     />
 
     <xacro:PandarQT
-      name="rear_bottom/lidar"
+      name="rear_lower/lidar"
       parent="sensor_kit_base_link"
-      x="${calibration['sensor_kit_base_link']['rear_bottom/lidar_base_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['rear_bottom/lidar_base_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['rear_bottom/lidar_base_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['rear_bottom/lidar_base_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['rear_bottom/lidar_base_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['rear_bottom/lidar_base_link']['yaw']}"
+      x="${calibration['sensor_kit_base_link']['rear_lower/lidar_base_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['rear_lower/lidar_base_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['rear_lower/lidar_base_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['rear_lower/lidar_base_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['rear_lower/lidar_base_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['rear_lower/lidar_base_link']['yaw']}"
     />
 
   </xacro:macro>